Floor processing machine with tiltable finishing units

ABSTRACT

A finishing machine ( 1 ) for finishing a work surface ( 20 ) which consists of a floor of terrazzo, marble, stone, concrete or the like, comprises at least two finishing units ( 3   a,    4   a;    3   b,    4   b;    3   c,    4   c   , 300 ) which are supported by the frame ( 14, 100 ) of the finishing machine and which are arranged for grinding, polishing and/or machining of the work surface ( 20 ), and each machining unit comprises a motor ( 4   a,    4   b,    4   c   , 200 ) and a rotatably mounted working disc ( 41 ) driven by the motor. The finishing units ( 3   a,    4   a   ; 3   b,    4   b;    3   c,    4   c   , 300 ) are individually tiltable relative to the frame ( 14, 100 ) about respective axes that are substantially parallel to the work surface ( 20 ).

FIELD OF THE INVENTION

The present invention relates to a processing or finishing machine forgrinding, polishing and/or machining of hard floors, such as terrazzo,marble, stone, concrete floors and the like, according to the preambleto claim 1.

BACKGROUND ART

Machines for grinding hard floors, such as terrazzo, marble, stone,concrete floors and the like, are known and marketed by, inter alia, theapplicant. Prior-art grinding machines for this purpose usually consistof a rotatably mounted solar disc which is driven by an electric motorand on which a plurality of, usually three to six, planetary disc arearranged. On each of the planetary discs there are arranged one or moreholding plates, which each support one or more grinding elements,polishing elements and/or cutting tools. The grinding machine usuallyhas a handle bar, adjacent to which actuating means are positioned;wheels, which constitute supports and facilitate the handling of thegrinding machine, and optionally a water tank to allow supply of waterto the grinding spindle. The grinding machine is designed, in grinding,to be propelled in front of and by a walking operator. A drawback ofthis type of finishing machine is that it has a low capacity, which isdisadvantageous when grinding large surfaces.

U.S. Pat. No. 6,419,565 B2 discloses how a prior-art floor finishingmachine for grinding of wooden floors can be connected to a driven ridertrailer, so that the operator, during grinding, can ride behind thefinishing machine and, thus, does not have to walk. However, also thisgrinding machine suffers from the drawback of low capacity.

U.S. Pat. No. 5,070,656 discloses how a finishing unit can be placed onthe lifting unit of a fork lift truck, so that the operator, duringgrinding, can propel the fork lift truck and, thus, does not have towalk. Also this finishing unit suffers, however, from the drawback oflow capacity.

A similar arrangement is disclosed in JP-2000-317803. A problem of thisfinishing unit is that the greater the capacity of the finishing unit,the more difficult the operating and transporting of the same.

U.S. Pat. No. 5,605,493 discloses a machine for wet grinding of stonefloors, in which a driving source, a working head for grinding and acollector are arranged on a frame. Also this machine has a low capacityand requires the operator to walk behind the machine for steering thesame.

WO 92/02334 discloses a mobile grinding machine for grinding of concretefloors according to the preamble to claim 1. Also this mobile grindingmachine suffers from problems with regard to capacity.

There is thus a need for an improved finishing machine, which has a highcapacity, a high degree of efficiency, good operability, goodtransportability and which can be manufactured at reasonable cost.

SUMMARY OF THE INVENTION

An object of the present invention is to provide a finishing machinewhich wholly or partly eliminates the problems of prior-art technique.

The object is achieved wholly or partly by a finishing machine accordingto the independent claim. Embodiments are defined by the dependentclaims and by the following description.

Thus, a finishing machine is provided for finishing a work surface whichconsists of a floor of terrazzo, marble, stone, concrete or the like,the finishing machine comprising at least two finishing units which aresupported by the frame of the finishing machine and which are arrangedfor grinding, polishing and/or machining of the work surface, eachfinishing unit comprising a motor and a rotatably mounted working discdriven by the motor. The finishing units are individually tiltablerelative to the frame about respective axes that are substantiallyparallel to the work surface.

By the finishing units being tiltable relative to the frame, thefinishing machine can be designed so that it can finish a wide trace andthus has great capacity while at the same time the machine can be madesufficiently narrow to be transported on a lorry or trailer, and to beable to pass through gates etc. to the area which is to be finished.Another advantage is that standard-type finishing units can be used, sothat no specially made finishing units have to be provided, whichcontributes to reducing the cost of the finishing machine.

A finishing machine with the above features also enables easy access tothe working disc for service and for exchange of finishing elements.This is advantageous if a finishing machine with high capacity is to beprovided, since such a finishing machine can be too heavy to allow it tobe tilted for access to the working disc. Moreover the operator does nothave to perform the uncomfortable or even dangerous working operationsthat are involved in maintenance of the finishing unit without beingable to see it distinctly.

In one embodiment, the finishing unit is connected to the frame by aholder, which is hingedly connected to the frame, so that the finishingunit is pivotable relative to the frame.

In one embodiment, a means is arranged for adjusting the angle of theholder relative to the frame.

In one embodiment, the finishing unit is connected to the frame by aholder, which is turnably connected to the finishing unit, so that thefinishing unit is tiltable relative to the frame.

In one embodiment, a means is arranged for adjusting the angle of theholder relative to the finishing unit.

In one embodiment, a front part of the frame, seen in the maintravelling direction of the finishing machine, projects in front of afront pair of wheels of the finishing machine to form a supporting frameon which the finishing units are mounted. This arrangement results inimproved access to corners.

In one embodiment, a part of the first finishing unit, which ispositioned furthest away from a centre axis located in the longitudinaldirection of the finishing machine, is positioned further away from thecentre axis than parts of a second and a third finishing unit, whichparts are located next to the centre axis. This provides an overlapbetween the area that is finished by the first unit and the respectiveareas that are finished by the third and second units.

In one embodiment, the first finishing unit is tiltable about an axissubstantially perpendicular to the centre axis of the finishing machine,and the second and third finishing units are tiltable about respectiveaxes parallel to centre axis of the finishing machine. It is thuspossible to make the machine relatively narrow and, consequently, easyto transport when the finishing units are raised.

In an alternative embodiment, the first finishing unit is tiltable aboutan axis which is substantially perpendicular to the centre axis of thefinishing machine, wherein second and third finishing units are tiltableabout a second and a third axis respectively, and wherein said secondand third axes, or their extension, form an acute angle to each other.

In one embodiment, each of said finishing units is arranged to abutagainst the work surface by a force which essentially equals the weightof the finishing unit.

In one embodiment, each of said finishing units, when engaging the worksurface, is displaceable relative to the frame in a direction which issubstantially perpendicular to the work surface.

The finishing machine may comprise an internal combustion engine, whichvia a generator and associated frequency converters supplies power tosaid finishing units and at least one propelling unit. Such a finishingmachine can be given very high capacity, combined with small emissionsand an even sound level, regardless of load.

In one embodiment, each of said frequency converters is controllable bya control unit, which control unit is capable of collecting control datafrom a manually actuated control means, a radio control unit or anautonomous navigation unit. This arrangement thus allows a great freedomof choice regarding which control mechanism is selected for thefinishing machine.

In one embodiment, said propelling unit comprises two electric motorsarranged to drive a drive wheel each, each of said electric motors beingindividually controllable by an associated frequency converter. Such anarrangement can be given excellent manoeuvrability combined with a greatfreedom of choice regarding which control mechanism is selected for thefinishing machine.

In one embodiment, the finishing machine comprises at least one pivotwheel which together with said drive wheel forms a supporting surfacefor the finishing machine. Such a finishing machine can be givenexcellent steerability and a great freedom of choice regarding thecontrol mechanism.

In one embodiment, an image-generating device is arranged to allowinspection in real time of the finished work surface in connection withthe work surface being finished by the finishing machine. This allowsinspection of the finishing result in real time.

In one embodiment, the finishing machine comprises a driver's seathaving an operator's seat and an actuator. Such a finishing machine isthus ridable, which reduces the physical efforts that are associatedwith finishing.

Examples of embodiments will now be described in more detail withreference to the accompanying drawings.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a schematic perspective view of a finishing machine in oneembodiment of the invention.

FIG. 2 is a schematic side view of the finishing machine in FIG. 1.

FIG. 3 is a schematic perspective view of the finishing machine in FIG.1, the finishing units of the machine being in a transport position.

FIG. 4 is a schematic perspective view of the finishing machine in FIG.1, the finishing units of the machine being in a service position.

FIGS. 5 a and 5 b are schematic side views of a working head and itsattachment to the frame.

FIG. 6 is a schematic top plan view of the finishing machine in FIG. 1.

FIG. 7 illustrates an example of a working head seen from below.

FIGS. 8 a-8 c illustrate an embodiment of a supporting frame, on which aplurality of finishing units are mounted.

FIG. 9 illustrates schematically functional components of a finishingmachine in one embodiment.

FIG. 10 shows an enlargement of the area B in FIG. 8 a.

DESCRIPTION OF EMBODIMENTS

FIG. 1 shows a riding finishing machine 1, which comprises a frame 14(FIG. 2), on which a set of wheels 2 a, 2 b, 2 c, 2 d is arranged, sothat the finishing machine can travel on a base 20 (FIG. 2).

The frame 14 of the finishing machine is arranged to support essentiallyall parts of the finishing machine. The frame can be a substantiallyrigid frame element or bottom plate, or be hinged, for the purpose of,for instance, facilitating manoeuvring.

The set of wheels 2 a, 2 b, 2 c, 2 d serves to provide a two-dimensionalsupporting surface for the finishing machine 1 on the base 20 and can bedesigned in various ways, depending on which driving properties arerequired for the machine.

The frame also supports an engine 6. The engine dimension and the choiceof compulsion force/fuel are determined based on the capacity requiredby the finishing machine 1. In one embodiment of the finishing machine1, the engine can be a gas-driven or diesel-driven internal combustionengine. The engine 6 is suitably arranged so as to operate at asubstantially constant speed and constant load, thus reducing theemissions from the engine. In one embodiment, the engine is arranged todrive a generator 7.

By letting the engine 6 drive a generator 7, force is generated both forpropelling the finishing machine 1 and for driving the finishing unitsand auxiliary equipment, such as a dust collector.

A steering device (not shown) can be arranged to allow steering of themovement of the finishing machine 1 over the work surface 20. Thesteering device can be actuatable in prior-art manner.

As a first example, the finishing machine 1 can have a driver's seat 12,comprising a seat 11 and a joystick 10 which is arranged adjacent to thedriver's seat 12 and which actuates the steering device (not shown).

As a second example, the steering device (not shown) can be actuatableat a distance from the actual finishing machine, for example by radiocontrol (not shown).

As a third example, the steering device (not shown) can be actuatable inresponse to instructions from a substantially autonomous unit, such as arobot control device (not shown), which is programmable to control themachine in a predetermined manner, which possibly may have a functionavoiding obstacles. Also other prior-art steering devices areconceivable.

The finishing machine 1 can have a plurality of, for instance three,finishing units, which can be of prior-art type. Each finishing unitcomprises a motor 4 a, 4 b, 4 c and a working head 3 a, 3 b, 3 c drivenby the motor. In one embodiment, such a working unit can be of the typethat appears in the finishing machine propelled by an operator, as shownin, for example, WO02/062524A1. Such a working head 3 a, 3 b, 3 c maycomprise two or more, preferably four or six, rotatably mounted anddriven working discs 41 arranged on planetary discs (FIG. 7), eachworking disc supporting one or more grinding elements 42 (FIG. 7) orcutting elements. The working discs 41 can in turn be rotatably arrangedon a supporting plate 40 which has the form of a solar disc, which inturn can be rotatably mounted. The supporting plate may comprise aplanetary gear arrangement which is arranged so that the supportingplate 40, when made to rotate by the motor 4 a, 4 b, 4 c, in turn makesthe working discs rotate, or vice versa. The rotation is schematicallyshown by the arrows in FIG. 7, but it will be appreciated that therotary directions may vary depending on the design of the planetarygear. In one embodiment, the number of planetary discs is even,preferably four or six, arranged so that two adjoining planetary discsrotate in opposite directions. The finishing elements 42 are usuallyexchangeable.

As is evident from FIG. 1 compared with FIG. 3, the finishing units canbe vertically displaceable between a working position (FIG. 1) and atransport position (FIG. 3).

In the working position, the finishing units 3 a, 3 b, 3 c; 4 a, 4 b, 4c are arranged so that the working discs 41 rotate in a plane which issubstantially parallel to the work surface 20, the finishing elements 42(FIG. 7) being in finishing engagement with the work surface 20.

FIG. 3 shows the finishing units in the transport position, i.e. at adistance from the work surface 20, thus facilitating movement of themachine over surfaces that are not to be finished.

As is evident from FIG. 4, the finishing units can be rotatably,pivotally and/or tiltably mounted, for instance tiltable about asubstantially horizontal axis parallel to the work surface 20 between aworking position or transport position and a service position, where theworking discs 41 are positioned at an angle relative to the worksurface, thereby facilitating access to them for cleaning or exchange ofconsumption parts, such as working discs 41 and/or finishing elements42. In one embodiment, the finishing units can be arranged to berotated, pivoted and/or tilted to such an extent that the working discs41 will be positioned in a substantially vertical or near verticalstate, for instance so that the working discs make an angle of at least45 degrees to the work surface 20, preferably 70-90 degrees.

FIGS. 5 a and 5 b illustrate schematically how a finishing unit 3, 4 canbe arranged on a holder 5 projecting from the frame 14. The holder 5 canbe pivotally arranged relative to the frame about a first hinge 33, thedegree of pivoting being actuatable by a first actuating means 31.Correspondingly, the finishing unit 3, 4 can be rotatably or tiltablyarranged relative to the holder 5 about a second hinge 34, the degree ofrotation being actuatable by a second actuating means 32. The first andsecond hinges 33, 34 can be substantially parallel to the work surface20.

The actuating means 31, 32 can be any actuating means for providing alinear motion. Examples of such actuating means can be hydraulic orpneumatic pistons, rack and pinion drives etc. Other actuating means forproviding an angular motion or tilting motion of the grinding headrelative to the frame can also be used.

The actuating means 31, 32 and the hinge arrangement of the finishingunit 3, 4 make it possible to adjust the finishing unit to the frame,for instance between a transport position (shown in FIG. 3 only), aservice position (FIG. 4, FIG. 5 b) and a working position (FIG. 1, FIG.5 a). It is also possible to use the actuating means 31, 32 and thehinge arrangement of the finishing unit 3, 4 to exactly adjust theworking position of the finishing units 3, 4 in connection withfinishing.

The actuating means 31, 32 can be controllable from the driver's seat ofthe finishing machine 1, by radio control or by the autonomous unit,depending on which control device has been selected.

In one embodiment, the finishing machine may have a length of about2-2.7 m between front and rear wheel axles, a wheel diameter of thefront wheels amounting to about 530 mm and a total length from the rearpart of the frame to the front part of the front working head amountingto abut 3-3.7 m. Such a machine can be provided with three working headsand thus be given a substantially higher capacity than machines that arecurrently available on the market.

It will be appreciated that the above-described arrangement of thefinishing unit is not limited to the described type of finishingmachine.

FIG. 6 is a schematic top plan view of a finishing machine 1 accordingto an embodiment. FIG. 6 shows more distinctly the position of theworking heads over the work surface of the finishing machine. In thisembodiment, a first finishing unit 3 a, 4 a is positioned essentially atthe front of the finishing machine, in its main travelling direction.The centre of the first finishing unit 3 a, 4 a essentially coincideswith a central longitudinal symmetry axis S of the frame 14 (FIG. 6).

Second 3 b, 4 b and third 3 b, 4 b finishing units are arrangedessentially symmetrically on the respective sides of the symmetry axis S(FIG. 6), behind the first finishing unit 3 a, 4 a in the maintravelling direction of the finishing machine 1. In one embodiment, thesecond and third finishing units are arranged so that a part of thesecond 3 b and third 3 c working heads, respectively, which is closestto the symmetry axis S, is positioned at a shorter distance from thesymmetry axis S than a part of the first working head 3 a which ispositioned furthest away from the symmetry axis S. This arrangementmakes it possible for the finishing machine to grind, polish and/ormachine a relatively wide area seen transversely to the main travellingdirection of the finishing machine, without significantly deterioratingthe access to surfaces in corners.

FIGS. 8 a-8 c illustrate an embodiment of a supporting frame on whichthree finishing units are arranged in one embodiment of the invention.

FIG. 8 a shows the finishing units of the finishing machine in a workingposition, i.e. in a position when they are in grinding, polishing and/ormachining engagement with a floor surface. The supporting frame 101shown in FIG. 8 a is designed to wholly or partly project in front ofthe front drive wheels 2 a, 2 d, 201 of the finishing machine. Thesupporting frame 101 consists in this embodiment of an arrangement ofbeams 102, 103, which tapers forwardly in the travelling direction ofthe finishing machine. A first finishing unit 3 a, 4 a is mounted at thepoint of intersection of the beams. This first finishing unit istiltable about an axis which is substantially perpendicular to thelongitudinal axis S of the finishing machine (FIG. 6). Second and thirdfinishing units are mounted on the beams 102, 103 and are thus tiltableabout the respective axes which make an angle of about 45° to thelongitudinal direction S of the finishing machine (FIG. 6). It will beappreciated that also other angles relative to the longitudinaldirection S are conceivable.

In an alternative embodiment, the supporting frame 101 can be narrowerthan the remaining part of the frame 14, 100.

The finishing units 3 a, 4 a; 3 b, 4 b; 3 c, 4 c are connected to thesupporting frame 101 by the respective holders 5. Actuating means 31, inthe form of hydraulic cylinders, are arranged for setting the angle ofthe holder 5 relative to the supporting frame 101 and, thus, actuatingthe tilting of the finishing units.

FIG. 8 b shows how the finishing units of the finishing machine shown inFIG. 8 a have been tilted to a service position, where the solar disc 40and working discs 41 of the finishing units are accessible for service,such as exchange of grinding discs 42 (FIG. 7).

FIG. 8 c shows how the finishing units of the finishing machine shown inFIG. 8 a have been tilted to a trans-port position, so that the totallength and width of the finishing machine have been substantiallyreduced relative to the working position shown in FIG. 8 a.

In one embodiment, the supporting frame 101 can be made verticallypivotable relative to the remaining part of the frame 14, 100. Forinstance, a hinge can be arranged parallel to the crossbar 104 (FIG. 8a).

In one embodiment, the finishing units are arranged so that theirworking areas, as the finishing machine moves, overlap each other, i.e.so that a part of a first finishing unit 3 a, 4 a which is positionedfurthest away from a centre axis S, located in the longitudinaldirection of the finishing machine, is positioned further away from thecentre axis S than the respective parts, located closest to the centreaxis S, of a second 3 b, 4 b, and third 3 c, 4 c finishing unit,respectively.

In one embodiment, the first finishing unit 3 a, 4 a is tiltable aboutan axis which is substantially perpendicular to the centre axis S of thefinishing machine, and the second and third finishing units 3 b, 4 b; 3c, 4 c, are tiltable about the respective axes which are parallel to thecentre axis S of the finishing machine.

In another embodiment, the first finishing unit 3 a, 4 a is tiltableabout an axis substantially perpendicular to the centre axis S of thefinishing machine, and the second and third finishing units 3 b, 4 b; 3c, 4 c are tiltable about second and third axes, respectively, and saidsecond and third axes, or their extension, form an acute angle to eachother. For instance, the second and third axes, respectively, can beparallel to the beams 102, 103 shown in FIGS. 8 a-8 c.

A finishing machine as described above can be designed for efficientfinishing of very large surfaces. It will be appreciated that whenfinishing large surfaces, such as factory, warehouse or store floors,the finishing machine is required to have a high capacity.

In the following, it will be described how a finishing machine with highcapacity and high efficiency can be provided.

FIG. 9 illustrates schematically functional components of a finishingmachine 1 in one embodiment. In FIG. 9, unbroken lines betweencomponents indicate trans-mission of power and dashed lines indicatetransfer of control and/or sensor data.

The finishing machine 1 is mounted on a frame 100, which is movable overa work surface (not shown) by means of a front set of wheels 201consisting of drive wheels, and a rear set of wheels 202 consisting ofpivot wheels. The drive wheels 101 are arranged to be drivenindividually by perspective drive motors 200. The pivot wheels areturnable in a plane parallel to the work surface and are, in oneembodiment, idle, and their main function is to form, together with thedrive wheels 201, a supporting surface for the finishing machine.

On a front part 101 of the frame, a plurality of, preferably three,finishing units 300 are arranged, for example in an arrangement asdescribed above.

An internal combustion engine 400, driven by diesel, gas, liquifiedpetroleum gas, petrol or the like, is arranged to constitute the powersource of the finishing machine. A torque is transmitted from theinternal combustion engine 4 to a generator 500 for generating electriccurrent. A power distributor 600 is used to distribute power to theother units in the finishing machine; frequency converters 800 a, 800 b,drive motors 200, finishing units 300, control unit 700, dust collector,low-voltage section 650 etc.

By using an internal combustion engine connected to a generator, it ispossible to provide a finishing machine which can operate for a longperiod without charge or refueling. Moreover the internal combustionengine can operate at a constant speed, which is advantageous in termsof fuel economy, sound level and wear.

The frequency converters 800 a, 800 b are arranged to individuallycontrol the speed of the drive motors 200 and the finishing units 300.This type of control makes it possible to individually control therotary speed of each of the drive wheels 200, thus allowing electroniccontrol of the speed as well as the direction of the finishing machine,without a mechanical control device. By the drive wheels beingcontrolled electronically according to the fly-by-wire principle, it ispossible to achieve great flexibility in the choice of control mechanismfor the finishing machine.

The drive motors can be of the asynchronous type, which is advantageousespecially in terms of cost.

In one embodiment, the finishing machine is controlled by a joystick orequivalent control means 701 positioned in the finishing machine.

In another embodiment, the finishing machine is controlled by a remotecontrol 702, which transfers control signals to the control unit 700 bycable, radio communication or the like.

In yet another embodiment, the finishing machine is controlled by meansof an autonomously or substantially autonomously navigation system 703.Such navigation systems can use one or more set-out reference points,artificial vision, control by laser beams or induction coils,obstacle-avoiding devices based on, for instance, optical sensors orultrasonic detection.

In one embodiment, a device 704 for inspection of the finishing result,for instance a camera, can be arranged behind the finishing units 300 inthe travelling direction. An output from the device 704 can be presentedon a display 705 adjacent to the driver's seat or in a unit by which thefinishing machine is remote controlled. Such a device 704 can possiblybe combined with a light source.

It will be appreciated that the finishing machine described withreference to FIG. 9 can be designed with other types and arrangements offinishing units and mounting of the same than shown in FIGS. 1-8.

FIG. 10 illustrates a detail of the area ‘B’ marked in FIG. 8 a. FIG. 10shows parts of the finishing unit 3 a, 4 a and of the attachment of theholder 5 to the finishing unit. The attachment of the holder 5 to thefinishing unit consists of a pin 34 which is arranged in a slot 35 whichis formed in the holder 5 and is substantially vertical in the workingposition so that the pin 34 is movable in the slot 35. This movabilityallows displacement of the finishing unit relative to the frame 100, sothat the finishing unit is essentially freely mounted relative to theframe. With this arrangement, each of the finishing units 3 a, 4 a; 3 b,4 b; 3 c, 4 c, 300 can be arranged to abut against the work surface 20by a force which essentially equals the weight of the finishing unit(i.e. mass×acceleration of gravity).

Thus, each of said working units 3 a, 4 a; 3 b, 4 b; 3 c, 4 c, 300 can,when engaging the work surface 20, be displaceable relative to the frame14 in a direction substantially perpendicular to the work surface 20. Aperson skilled in the art realises that this displaceability or freemounting can also be provided in other ways.

1-21. (canceled)
 22. A finishing machine for finishing a work surface,comprising: a frame; and a plurality of finishing units supported by theframe, each of the finishing units configured to be tilted relative tothe frame, the finishing units including at least a first finishing unittiltable about an axis that is substantially perpendicular to a centralaxis of the finishing machine, and a second finishing unit tiltableabout an axis that is substantially parallel to the central axis of thefinishing machine.
 23. The finishing machine of claim 22, wherein thefinishing units are individually tiltable relative to the frame.
 24. Thefinishing machine of claim 22, further comprising a plurality of workingdiscs rotatably mounted on each of the finishing units.
 25. Thefinishing machine of claim 22, further comprising an actuating mechanismfor adjusting a position of at least one of the finishing units relativeto the frame.
 26. The finishing machine of claim 22, wherein a part ofthe first finishing unit is positioned further away from the centralaxis of the finishing machine than a part of the second finishing unit.27. The finishing machine of claim 22, wherein the finishing units aretiltably connected to the frame by a plurality of holders, at least oneof the holders corresponding to each of the finishing units.
 28. Thefinishing machine of claim 27, wherein each of the holders is connectedto the frame by at least one hinge.
 29. The finishing machine of claim28, wherein each of the finishing units is provided with an actuatingmechanism for adjusting a degree of tilting of the finishing unitrelative to the frame.
 30. The finishing machine of claim 22, whereinthe finishing units are pivotally connected to the frame by a pluralityof holders, at least one of the holders corresponding to each of thefinishing units.
 31. The finishing machine of claim 22, furthercomprising a plurality of motors, each of the motors operably connectedto one of the finishing units.
 32. The finishing machine of claim 31,further comprising a plurality of working discs operably associated witheach of the finishing units, each of the working discs being driven byone of the motors.
 33. The finishing machine of claim 32, wherein eachof the working discs is provided with a plurality of finishing elements.34. The finishing machine of claim 32, wherein the working discs rotatein a plane substantially parallel to the work surface.
 35. The finishingmachine of claim 22, wherein the plurality of finishing units comprisesthree finishing units, the finishing units including at least a thirdfinishing unit tiltable about an axis parallel to the central axis ofthe finishing machine.
 36. The finishing machine of claim 35, whereinthe three finishing units produce respective finishing traces along thework surface, and the finishing traces of at least two of the finishingunits substantially overlap each other.
 37. The finishing machine ofclaim 36, wherein the three finishing units include a first finishingunit mounted forward of second and third finishing units, such that thefinishing traces of the second and third finishing units substantiallyoverlap the finishing trace of the first finishing unit.
 38. Thefinishing machine of claim 37, wherein the three finishing units aremounted substantially symmetrically about the central axis of thefinishing machine.
 39. The finishing machine of claim 37, furthercomprising a supporting frame mounted forward of the frame, wherein thethree finishing units are mounted on the supporting frame.
 40. Thefinishing machine of claim 22, wherein the finishing units areconfigured to carry out at least one of grinding, polishing, andmachining of the work surface.
 41. A finishing machine for finishing awork surface, comprising: a frame; and a plurality of finishing unitssupported by the frame, each of the finishing units configured to betilted relative to the frame, the finishing units including at least afirst finishing unit tiltable about an axis that is substantiallyperpendicular to a central axis of the finishing machine, a secondfinishing unit tiltable about second axis that is substantially parallelto the central axis of the finishing machine, and a third finishing unittiltable about a third axis, wherein the second axis and the third axisare configured to form an acute angle.
 42. The finishing machine ofclaim 41, further comprising a plurality of working discs rotatablemounted on each of the finishing units, wherein at least one of thefinishing units is tiltable such that the working discs form an angle ofbetween about 45° to 90° relative to the work surface.
 43. The finishingmachine of claim 41, further comprising a plurality of holders forrotatably or tiltably mounting the finishing units relative to theframe.
 44. The finishing machine of claim 41, wherein each of thefinishing units is provided with an actuating mechanism for adjusting adegree of tilting of each finishing unit relative to the frame.
 45. Thefinishing machine of claim 41, wherein the finishing units producerespective finishing traces along the work surface, and the finishingtraces of at least two of the finishing units substantially overlap eachother.
 46. A method for finishing a work surface, comprising the stepsof: providing a frame with at least two finishing units, the finishingunits configured to be tilted relative to the frame, the finishing unitsincluding at least a first finishing unit tiltable about an axis that issubstantially perpendicular to a central axis of the finishing machine,and a second finishing unit tiltable about an axis that is substantiallyparallel to the central axis of the finishing machine; providing aplurality of working discs rotatably mounted on each of the finishingunits; and positioning the finishing units such that the working discssubstantially engage the work surface.
 47. The method of claim 45,further comprising the step of adjusting the finishing units such thatthe working discs are substantially out of engagement with the worksurface.
 48. The method of claim 45, wherein the at least two finishingunits produce respective finishing traces on the work surface.
 49. Themethod of claim 47, wherein the finishing traces of at least two of thefinishing units substantially overlap each other.
 50. The finishingmachine of claim 22, wherein each of the finishing units is arranged toabut against the work surface by a force that substantially correspondsto a weight of the respective finishing unit.
 51. The finishing machineof claim 22, wherein each of the finishing units, when engaging the worksurface, is displaceable relative to the frame in a directionsubstantially parallel to the work surface.
 52. The finishing machine ofclaim 22, further comprising an internal combustion engine, a generator,and frequency converters for supplying power to the finishing units andat least one propelling unit.
 53. The finishing machine of claim 22,further comprising at least one drive wheel and at least one pivot wheelthat form a supporting surface for the finishing machine.
 54. Thefinishing machine of claim 22, further comprising an image-generatingdevice operably connected to the finishing machine for inspecting thework surface in real time.